Xenus PLUS XEL EtherCAT Control Modes • • • • RoHS DIGITAL SERVO DRIVE FOR BRUSH/BRUSHLESS MOTORS Cyclic Synchronous Position-Velocity-Torque (CSP, CSV, CST) Profile Position-Velocity-Torque, Interpolated Position, Homing Camming, Gearing Indexer Command Interface • CAN application layer over EtherCAT (CoE) • ASCII and discrete I/O • Stepper commands • ±10V position/velocity/torque (2 inputs) • PWM velocity/torque command • Master encoder (Gearing/Camming) Communications • EtherCAT • RS-232 Accessories • External regen resistors • External edge filter Feedback • Digital quad A/B encoder Analog sin/cos incremental Panasonic Incremental A Format • SSI, EnDat, Absolute A Tamagawa & Panasonic Absolute A Sanyo Denki Absolute A, BiSS,BiSS • Aux. encoder / encoder out • Resolver option • Digital Halls Safe Torque Off (STO) • Two active inputs enable power stage • One output confirms power stage status I/O Digital • 15 inputs, 6 outputs I/O Analog • 2, 16-bit inputs • 1, 12-bit input • 1, 12-bit output Dimensions: in [mm] • 7.9 x 5.5 x 2.3 [202 x 139 x 52] Model Ic Ip Vac XEL-230-18 6 18 100-240 XEL-230-36 12 36 100-240 XEL-230-40 20 40 100-240 Add -R for resolver feedback option. DESCRIPTION Xenus Plus set new levels of performance, connectivity, and flexibility. Ethernet based EtherCAT operates in CAN application layer over EtherCAT (CoE) mode. A wide range of absolute interfaces are built-in including EnDat, and BiSS. High resolution A/D converters ensure optimal current loop performance. Both isolated and highspeed non-isolated I/O are provided. For safety critical applications, redundant power stage enable inputs can be employed. Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Tech Support: E-mail: [email protected], Web: http://www.copleycontrols.com Fax: 781-828-6547 Page 1 of 28

GENERAL SPECIFICATIONS Test conditions: Wye connected load: 2 mH line-line. Ambient temperature = 25 °C. Power input = 230 Vac, 60 Hz, 1 0 Mains voltage, phase, frequency Maximum Mains Current, 10 ( Maximum Mains current, 30 ( DIGITAL CONTROL Digital Control Loops Current, velocity, position. 100% digital loop control Current loop: 16 kHz (62.5 us), Velocity & position loops: 4 kHz (250 us) Cyclic Synchronous Position-Velocity-Torque, Profile Position-Velocity-Torque, Analog torque, velocity, position reference Digital position reference Digital torque & velocity reference Pulse/Direction, CW/CCW...

Cut-in Voltage Drop-Out Voltage Internal solid-state switch drives external regen resistor (see Ordering Guide for types) +HV > 390 Vdc Regen output is on, (optional external) regen resistor is dissipating energy +HV < 380 Vdc Regen output is off, (optional external) regen resistor not dissipating energy ±2 Vdc_For either Cut-in or Drop-Out voltage_ Drive over temperature Short circuits Motor over temperature Feedback power loss + HV > 400 Vdc Drive PWM outputs turn off until +HV is less than overvoltage + HV < 60 Vdc Drive PWM outputs turn off until +HV is greater than undervoltage IGBT > 80...

Xenus PLUS XEL EtherCAT RoHS SPECIFICATIONS (CONT’D) SAFE TORQUE OFF (STO) Inputs Type Output 2 two-terminal: [ENH+], [ENH-], [ENL+], [ENL-] Opto-isolators, 24V compatible 1 two-terminal: [LED+], [LED-] 24V compatible Functional Safety IEC 61508-1, IEC 61508-2, EN(ISO) 13849-1, EN(ISO) 13849-2 DIMENSIONS 7.92 201.17 7.54 191.52 Chassis Grounding: For CE compliance and machine safety an electrically conductive grounding tab is provided. This connects to the heatplate and to frame ground. .19 4.83 R.094 2.37 TYP 1.29 32.69 5.12 130.07 3.00 76.20 Units: Inches (mm) .190 4.83 Chassis grounding tab...

Xenus PLUS XEL EtherCAT RoHS ETHERCAT COMMUNICATIONS EtherCAT is the open, real-time Ethernet network developed by Beckhoff based on the widely used 100BASE-TX cabling system. EtherCAT enables highspeed control of multiple axes while maintaining tight synchronization of clocks in the nodes. Data protocol is CAN application layer over EtherCAT (CoE) based on DSP-402 for motion control devices. More information on EtherCAT can be found on this web-site: http://ethercat.org/default.htm ETHERCAT CONNECTIONS Dual RJ-45 sockets accept standard Ethernet cables. The IN port connects to a master, or to...

Xenus PLUS XEL EtherCAT RoHS COMMUNICATIONS RS-232 COMMUNICATIONS XEL is configured via a three-wire, full-duplex DTE RS-232 port that operates from 9600 to 115,200 Baud, 8 bits, no parity, and one stop bit. Signal format is full-duplex, 3-wire, DTE using RxD, TxD, and Gnd. Connections to the XEL RS-232 port are through J7, an RJ-11 connector. The XEL Serial Cable Kit (SER-CK) contains a modular cable, and an adapter that connects to a 9-pin, Sub-D serial port connector (COM1, COM2, etc.) on PC’s and compatibles. J6: RS-232 PORT STAT LED (ON J6) SIGNAL 1 STAT PIN 2 RxD 6 RJ-12 receptacle, 6 position,...

Xenus PLUS XEL EtherCAT RoHS SAFE TORQUE OFF (STO) DESCRIPTION The XEL has a safety feature that is designed to provide the Safe Torque Off (STO) function as defined in IEC 61800-5-2. Two opto-couplers are provided which, when de-energized, prevent the upper and lower devices in the PWM outputs from being operated by the digital control core. This provides a positive OFF capability that cannot be overridden by the control firmware, or associated hardware components. When the opto-couplers are activated (current is flowing in the input diodes), the control core will be able to control the on/off...

Xenus PLUS XEL EtherCAT RoHS COMMAND INPUTS DIGITAL POSITION Digital position commands can be in either single-ended or differential format. Single-ended signals should be sourced from devices with active pull-up and pull-down to take advantage of the high-speed inputs. Differential inputs have 121 Ω line-terminators. DIFFERENTIAL PULSE & DIRECTION SINGLE-ENDED PULSE & DIRECTION [IN3+] [IN5] [IN6] Pulse PULSE [IN4-] Direction [IN5+] DIRECTION [IN6-] SINGLE-ENDED CU/CD DIFFERENTIAL CU/CD CU (Count-Up) CU (Count-Up) [IN5] [IN6] [IN3+] [IN4-] CU CD CD (Count-Down) CD (Count-Down) [IN5+] [IN6-] QUAD...